Lecture 10 Feedback Characteristics

Feedback Characteristics of
Control Systems
Lecture 10
Instructor: Alivelu M Parimi
8-Apr-19 Control Systems 1
ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

Previous Lecture
• Modeling of physical systems

• Reduction of multiple block diagrams
• Signal flow graphs

Ch3 Feedback control system
characteristics
Main content:
• Open- and closed-loop control systems
• Sensitivity to Parameter variations
• Examples

Open-loop and closed-loop control
systems
• An open-loop (direct) system operates
without feedback and directly generates the
output in response to an input signal.
• A closed-loop system uses a
measurement of the output signal and a
comparison with the desired output to
generate an error signal that is applied to
the actuator.

systems
Y(s)
Y(s)

systems
Y(s)
Y(s)
Y(s) Y(s)
Y(s)

Open-And Closed-Loop Control Systems
H
H ( )s ) 1 1
(s
G(G
s )( s )
Y
Y ( )s )
(s  R ( sR
) (s )
1  ( sG
1 G )( s )
E( s )
1
1  R( s ) Error Signal
E( s ) 1  G( s )  R( s )
1  G( s )
Thus, to reduce the error, the magnitude of

Thus, to reduce the error, the magnitu
ude of
H( s )  1
1  G( s )   1

Thus, to reduce the error, the magnitude
Open-And Closed-Loop Control Systems
H( s )  1
H( s )  1
G( s )
Y( s ) G( s )  R( s )
Y( s ) 1  H( s ) G( s )  R( s )
1  H( s ) G( s )
1
E( s ) 1  R( s )
E( s ) 1  H[ ( s )  G( s ) ]  R( s )
1  H[ ( s )  G( s ) ]
Thus, to reduce the error, the magnitude
of 1  G( s ) H( s )   1

The roles of feedback
Benefits:
• Reduce error (eliminating the error)
• Reduce sensitivity or Enhance robustness
• Disturbance rejection or elimination
• Improve dynamic performance or adjust the
transient response (such as reduce time
constant)

Sensitivity of system to parameter
variations
System are time-varying in its nature because

of inevitable uncertainties such as changing
environment , aging , and other factors that
affect a control process.All these uncertainties
in open-loop system will result in inaccurate
output or low performance. However, a
closed-loop system can overcome this
disadvantage.

Continue
A primary advantage of a closed-loop feedback

control system is its ability to reduce the
system’s sensitivity to parameter variation.
Sensitivity analysis Robust control

Effect of parameter variations
• Open-loop system
Y ( s)  G ( s) R( s)
If process G (s ) is change as G ( s)  G ( s)
Y ( s )  Y ( s )  G ( s )  G ( s ) R( s )
Y ( s )  G ( s ) R( s )

Effect of parameter variations
• Closed-loop system
G( s)
Y ( s)  R( s )
(1  GH )(1  GH  GH )
G ( s)
 R( s)
(1  GH ) 2

System sensitivity
System sensitivity is defined as the ratio of the

percentage change in the system transfer function
to the percentage change of the process transfer
function. It is defined as
T ( s) / T ( s)
S
G ( s) / G( s)

continue
In the limit, for small incremental changes, last

formula is
T ( s) / T ( s) InT
S 
G( s) / G( s) InG

Sensitivity comparison
Y ( s)  G ( s) R( s)
S  1,
T
G T G

• Closed-loop system
1
S 
T
1  G (s) H (s)
G


Sensitivity to parameters
If system TF is
N ( s,  )
T ( s,  ) 
D ( s,  )
System sensitivity to  is
InT InN InD

S 
T
   S  S
N D
In In In


Example
Open loop
vo Ka v in
T ka
T
8-Apr-19 Control Systems SKa 1 20

Example
Open loop Closed loop
v o Ka v in R2
Closed loop  Rp R1  R2
R1
ka
T R2 Ka
 Rp R1  R2 T 1
R1 T SKa
T 1  Ka  1  Ka 
SKa Ka1 1
T
T SKa
1  Ka   Kais
If1 Ka   large, the sensitivity is low.
Closed loop
4

R2
If Ka is large,
Rp R1 sensitivity K
 R2
the  10
isalow.   0.1 SKa
R1
Ka 10
4 T 1 4
Ka T   0.1
1 SKa   9.99  10
T SKa 3
1  K  1  Ka  1  10
8-Apr-19 a Control Systems 21
If ELECTRICAL
Ka is large, the sensitivity is low. COMMUNICATION
ELECTRONICS INSTRUMENTATION
Transient response of system
• Transient response is the response of a

system as a function of time. It is one of the
most important characteristics of control
system.
• Feedback is a powerful technique for control
system dynamics

Disturbance in a feedback control system
• Disturbance signal is an unwanted extraneous

input signal that affects the system’s output
signal, such as noise for amplifier,wind gusts
for radar antennas,etc.
• Feedback control can completely or partially
eliminate the effect of disturbance signal.

Steady-state error
• Steady-state error is the error after the

transient response has decayed,leaving only
the continuous response.
• Feedback can reduce the steady-state error of
control system

How to define the error ?
Y(s)
• From input point:
E a (s)=R(s)-H(s)Y(s)
• From output point:
E (s)=R(s)-Y(s)
Only for unit feedback H(s)=1,We have

E a (s)= E (s)

Comparison of error
Eo (s)  R(s)  Y (s)  (1  G(s)) R(s)
• Closed-loop system E o (s)=R(s)-H(s)Y(s)
1
Eo ( s)  R( s ) , for H ( s)  1
1  G( s)

continue
• Open-loop system under unit step input
1
eo ()  lim sEo ( s )  lim s (1  G ( s ))  1  G (0)
s 0 s 0 s
• Closed-loop system under unit step input
1 1 1
ec ()  lim sEc ( s)  lim s( ) 
s 0 s 0 1  G( s) s 1  G(0)

Summary
The fundamental reasons for using feedback are
as follows:
• Decrease the sensitivity to parameter
variation
• Improve transient or dynamic performance
• Enhance the robustness
• Reduce the steady-state error

Control of the Transient Response of Control Systems
( s ) K1
G( s )
Va( s ) 1 s  1
where,
Km Ra J
K1 1
Ra b  Kb Km Ra b  Kb Km

K1
K a
( s ) K a G( s ) K a K 1 1
R( s ) 1  K a K t G( s )  1 s  1  K a K t K 1   1  K a K t K 1 
s   
  1 


Disturbance Signals In a Feedback Control Systems
R(s)



Steady-State Error
Eo ( s ) R( s )  Y( s ) ( 1  G( s ) )  R( s )
1
Ec( s )  R( s ) H( s ) 1
1  G( s )
Steady State Error
lim e( t ) lim s  E( s )
t ∞
0 s 0
For a step unit input
1
eo ( infinite) lim s  ( 1  G( s ) )  lim ( 1  G( 0) )
s 0 s s 0
s  1  
1 1
ec( infinite) lim   lim  1  G( 0) 
8-Apr-19 Control Systems s  0  1  G( s )  s s 0 35

Design Example: English Channel Boring Machines
Y( s ) T( s )  R( s )  Td ( s )  D( s )
K  11 s 1
Y( s )  R( s )   D( s )
2 2
s  12 s  K s  12 s  K

Design Example: English Channel Boring Machines
Study system for different

Values of gain K
Steady state error for R(s)=1/s and D(s)=0
lim s     1
1
lim e( t ) 0
t  infinite s 0  1  K  11 s  s
 s  s 
2
G
Steady state error for R(s)=0 D(s)=1/s
lim s  
1 Td  1 1
lim
t  infinite
y ( t)
s 0
 2  s K
 s  12 s  K 

Regenerative feedback
• Feedback in which the portion of

the output signal that is returned to
the input has a component that is
in phase with the input signal.
• The effect of positive (or regenerative)
feedback is to “increase” the systems gain, ie,
the overall gain with positive feedback applied
will be greater than the gain without feedback

Regenerative feedback
• Av = G / (1 – GH).
• Note that if GH = 1 the system gain Av =
infinity and the circuit will start to self-
oscillate, after which no input signal is needed
to maintain oscillations, which is useful if you
want to make an oscillator.
• Positive feedback has the property that signals
tend to reinforce themselves, and grow larger.

Study
• Examples from section 3.7

Example 3.5

Solution

Solution

Solution

Solution
• Sensitivity?

Force(Torque)-voltage and Force(Torque)-current Analogy
Direct Method for Analogous systems
Analogous Quantities
Direct Method for parallel Analogous-
systems (Nodal Method):
1. Number of nodes = Number of displacement (principal nodes)
2. Take an additional node which is a reference node
3. Connect mass element between the principal node and reference node only
4. Connect the force element between the principal node and reference node only
5. Connect the spring and damping elements either between the principal nodes or
between principal nodes and reference nodes depending on their position.
6. Obtain the diagram and write the describing equations at each node

Lecture 10 Feedback Characteristics

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Feedback Characteristics of

8-Apr-19 Control Systems 1

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

• Modeling of physical systems

8-Apr-19 Control Systems 2

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

8-Apr-19 Control Systems 3

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

8-Apr-19 Control Systems 4

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

8-Apr-19 Control Systems 6

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

Thus, to reduce the error, the magnitude of

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

System are time-varying in its nature because

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

A primary advantage of a closed-loop feedback

Sensitivity analysis Robust control

8-Apr-19 Control Systems 11

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

8-Apr-19 Control Systems 13

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

System sensitivity is defined as the ratio of the

8-Apr-19 Control Systems 14

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

In the limit, for small incremental changes, last

8-Apr-19 Control Systems 15

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

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InT InN InD

In In In

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

• Transient response is the response of a

8-Apr-19 Control Systems 22

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• Disturbance signal is an unwanted extraneous

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

• Steady-state error is the error after the

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Only for unit feedback H(s)=1,We have

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

Eo (s)  R(s)  Y (s)  (1  G(s)) R(s)

• Closed-loop system E o (s)=R(s)-H(s)Y(s)

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

• Open-loop system under unit step input

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